Abstract: A system, apparatus and method are provided for robotically assisting the harvest of a crop. Instrumented picker carts include sensors for detecting amounts of harvested crop (e.g., fill ratios) of containers carried by the carts, communication modules for communicating their locations and detected crop amounts to a field computer, and components for signaling for robotic service. The field computer predicts when a cart that requests service will have a full container and where it will be located at that time, then decides whether to approve the request. If the request is approved, a robot is assigned and is given (or generates) a path to the cart's predicted location, and begins moving toward the location so as to arrive near (and preferably before) the predicted time. Robots include means for moving (e.g., wheels, motors, steering components, power sources), navigation modules, computing components for controlling their movement, and communication modules.

Abstract: A parallel porting valve assembly having a parallel valve body. The parallel valve body forms an inlet channel cavity and an outlet channel cavity. A plurality of plug valves are each mounted within the parallel valve body between the inlet channel cavity and the outlet channel cavity for selectively permitting an preventing communication between the inlet channel cavity and the outlet channel cavity. An actuator is used to open and close each plug valve.

Abstract: An interchangeable plug valve having a valve body with a first through hole. An outer valve plug having a second through hole. The outer valve plug is rotatably and sealably seated within a first cavity of the valve body. The second through hole of the outer valve plug rotatably aligns with the first through hole of the valve body. The outer valve plug is retained in a seated and sealed position within the valve body. An inner valve plug is non-rotatably and sealably seated within a second cavity of the outer valve plug. A plurality of interchangeable plug valves combine to form a parallel porting valve assembly. The parallel porting valve assembly has a parallel valve body with an inlet channel cavity and an outlet channel cavity. Each interchangeable plug valve has one side of the second through hole of the outer valve plug aligned with the inlet channel cavity and the opposite side of the second through hole of the outer valve plug aligned with the outlet channel cavity of the parallel valve body.

Abstract: A reelable flow stopper for plugging fluid flow within a pipe having a guide housing with an enclosed guide channel. A guide housing sealably secures to at least one side of a full port gate valve and the opposite side of the full port gate valve is in communication with the inside of the pipe. The pipe has an access hole in a pipe wall of the pipe. The guide channel is in communication with the access hole. At least one guide prong of a fork extends into the pipe. The guide prong is secured to the guide housing. A roller bearing is rotably mounted to each guide prong of the fork. A take-up spool is secured to the bearing and the take-up spool rotates with respect to each guide prong of the fork. A stopper tape has a spool end secured to the take-up spool and an opposite end contacting the guide pins located within the guide housing. The guide pins route and guide the stopper tape into and out of the pipe. A crank is secured to a crank gear. A drive gear is secured with respect to the take-up spool.